Absolute encoder support

Hey everyone. I am trying to modify the v3.6 firmware to add support for these absolute encoders (Rotary absolute encoder AksIM-2™ - www.rls.si) and was wondering what files I will need to modify. I know I will likely need to write my own driver since these encoders have a resolution of 17 bits, but I am not sure where to start. Any help would be appreciated! Thanks.

The relevant code is in ODrive\Firmware\MotorControl\encoder.cpp. There is already support for an absolute SPI encoder, so modifying it to work with this one should be pretty easy.

Hi there,

Can you provide an update, when you were able to get the encoder working with the odrive? Planning to use this encoder as well in the near future.